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#ifndef OPALRT_H
#define OPALRT_H
namespace OpalRT
{
/* ------------------------------ Outputs ------------------------------
*
* Copied from Mag_GPS_aided_INS.c Aug 20, 2010
* Port 1: Navigation state estimates
* 1 t [s] time elapsed since INS mode started
* 2-4 p^n [m] navigation frame position (N,E,D)
* 5-7 v^n [m/s] navigation frame velocity (N,E,D)
* 8-10 Euler angles [rad] (roll, pitch, yaw)
* 11-13 b_f [m/s^2] accelerometer biases
* 14-16 b_w [rad/s] gyro biases
*
* Port 2: Navigation system status
* 1 mode (0: initialization, 1: INS)
* 2 t_GPS time elapsed since last valid GPS measurement
* 3 solution status (0: SOL_COMPUTED, 1: INSUFFICIENT_OBS)
* 4 position solution type ( 0: NONE, 34: NARROW_FLOAT,
* 49: WIDE_INT, 50: NARROW_INT)
* 5 # obs (number of visible satellites)
*
* Port 3: Covariance matrix diagonal
* 1-15 diagonal elements of estimation error covariance matrix P
*/
enum SignalPort
{
T_ELAPSED,
X_POS,
Y_POS,
Z_POS,
X_VEL,
Y_VEL,
Z_VEL,
ROLL,
PITCH,
YAW,
B_F_0,
B_F_1,
B_F_2,
B_W_0,
B_W_1,
B_W_2
};
}
#endif // OPALRT_H